CN112247641A - Automatic feeding system - Google Patents

Abstract

The invention discloses an automatic feeding system which comprises a step feeding machine, a 3D recognition device and a manipulator, wherein the step feeding machine is used for conveying materials to an upper position, the 3D recognition device is used for carrying out 3D recognition on the materials conveyed in place by the step feeding machine so as to confirm the position of the materials, and the manipulator is used for automatically grabbing and moving the recognized materials. The ladder material loading machine includes: the device comprises a moving part for conveying materials in a mode that the positions of multiple rows are sequentially increased and the materials are simultaneously moved up and down, a fixed part which is inserted in the moving part and is used for connecting the materials conveyed by the adjacent moving part, and two removing mechanisms for removing the materials which cannot be grabbed or are not beneficial to grabbing by a manipulator and enabling the removed materials to continuously flow back to the initial position. The automatic feeding system adopts the rejecting mechanisms symmetrically arranged on two sides and the stop devices which circularly act, so that the material conveying process is accelerated, the pause time of the manipulator is reduced, and the working efficiency of the automatic feeding system is fundamentally improved.

Description

Automatic feeding system

Technical Field

The invention belongs to the field of intelligent manufacturing, and particularly relates to an automatic feeding system capable of automatically feeding materials and automatically grabbing and moving the fed materials to a next station or a next process.

Background

At present, most of the material loading work of robot 3D intelligent machine tool feeding system project is manual material loading, and the material is manually conveyed and moved to a required station during manual material loading, so that the manual material loading speed is low, the requirement for improving the production efficiency cannot be met, and the requirement for batch production and manufacturing cannot be met.

The step feeder in the prior art has the condition that the number of one-time feeding is large and the subsequent process cannot be continued, so the step feeder in the prior art is frequently required to be stopped intermittently to adapt to the progress or speed of the subsequent process. In addition, in the prior art, after the material is loaded, the identification photographing device is required to photograph the material, and then the manipulator can grab the material according to the photographed image, but the photographing process of the identification photographing device also needs to consume a certain time, and in the photographing process of the identification photographing device, the ladder material loading machine and other parts of the subsequent process need to stop working, so that the resources of the equipment are not fully utilized.

Therefore, in the prior art, how to better control the material flow after the material is loaded by the ladder loading machine, how to match the loading speed of the ladder loading machine with the next-level flow or process, how to quickly transfer the loaded material to the next flow or station, and how to solve the problems that the ladder loading machine does not need to stop and wait for subsequent flow components, and the like.

Disclosure of Invention

In order to solve the problems, the invention provides an automatic feeding system capable of automatically feeding materials.

The technical scheme of the invention is as follows:

the utility model provides an automatic feeding system, includes step-by-step ladder material loading in order to carry material to predetermined height's ladder material loading machine, carries out 3D discernment in order to confirm the 3D recognition device of material position to the material after ladder material loading machine carries to target in place, snatchs the manipulator that moves automatically to the material after the discernment. The ladder material loading machine include: the automatic material conveying device comprises a moving part, a fixed part, two alternately-acting rejecting mechanisms and a material blocking device, wherein the moving part is used for conveying materials in a manner that the positions of multiple rows of positions are sequentially increased and simultaneously move up and down, the fixed part is sequentially inserted into the moving part and is used for being connected with the materials conveyed by the adjacent moving part, the two alternately-acting rejecting mechanisms are used for rejecting the materials which cannot be grabbed or are not beneficial to grabbing by a manipulator and enabling the rejected materials to continuously flow back to the initial position, and the material blocking device corresponds to the position of the rejecting mechanisms and is;

according to the automatic feeding system, the moving part conveys materials, when the materials are conveyed to the side of a certain rejecting mechanism, the left side and the right side are used for explaining the automatic feeding system temporarily, the moving part conveys the materials, when the materials are conveyed to the rejecting mechanism on the left side, the material stopping device on the left side does not move the materials to be conveyed smoothly, after the 3D identification device carries out 3D identification on the conveyed materials, the manipulator grabs the materials, and the material stopping device on the right side moves to stop the materials in the process; the removal portion continues to carry the material, and when the material was rejected the mechanism to the right side, the dam device on this right side did not move the material and carries smoothly, and 3D identification device carries out the 3D discernment back to carrying the material that targets in place, and the manipulator snatchs the material on right side, and the left dam device action of this in-process blocks the material. In the above process, the manipulator continuously operates, and the operation of the manipulator is not stopped by the 3D recognition device.

In the invention, the ladder feeder conveys materials, the materials conveyed by the invention are particularly suitable for rod-shaped materials, certainly, materials with other shapes can be conveyed, after the ladder feeder conveys the materials to the feeding position, the 3D recognition device recognizes the position and material shape information of the materials on one side through visual recognition, and transmits the information to the manipulator, the manipulator grabs and moves according to the material information, and as the 3D recognition device needs to consume a certain time in the photographing and recognition process, if only an independent removing mechanism is adopted, the manipulator always needs to wait for the 3D recognition device to finish recognition in each 3D recognition process and then can grab, thus the efficiency of the manipulator is not utilized optimally. According to the invention, two sets of rejecting mechanisms and two sets of material blocking devices are adopted, when one side is fed, for example, when the left side is fed, the manipulator is gripping the material on the other side, namely the right side, the left side is fed and the preparation work before gripping is already done after 3D recognition is finished, at the moment, the manipulator also grips the material on the right side, and the manipulator immediately grips the material on the left side, so that the feeding and the 3D recognition of the material on the left side are finished, and the manipulator can grip the material on the left side without pause.

In the invention, the moving part moves up and down under the driving of a driving device. The multi-row moving part conveys materials to the multi-row fixing parts in a vertically moving mode, and the multi-row moving part and the multi-row fixing parts are arranged in a crossed mode. In the invention, the positions of a plurality of rows of moving parts are sequentially increased, and the plurality of rows of moving parts are driven by a driving device to simultaneously convey materials in an up-and-down moving manner; the multiple rows of fixing parts are sequentially inserted into the multiple rows of moving parts and used for receiving materials conveyed by the adjacent moving parts, and the positions of the multiple rows of fixing parts are sequentially increased. In order to improve the efficiency, the width of each row of the multiple rows of the moving parts and the multiple rows of the fixed parts is set to be wider, the two removing mechanisms are set to be two, the two removing mechanisms work alternately to enable the removed materials to continuously flow back to the initial position, the two removing mechanisms can increase the working efficiency, and the specific number of the removing mechanisms can be set according to the width of the fixed parts of the multiple rows of the moving parts or the material conveying speed. Meanwhile, the number of the mechanical hands can also be configured according to the number of the two rejecting mechanisms, for example, the number of the mechanical hands is two, and the number of the rejecting mechanisms is four.

Furthermore, the top ends of the multiple rows of moving parts and the fixed parts are inclined planes inclined towards the material conveying direction. The number of rows of the moving parts is 2-5, and the number of rows of the fixing parts is 2-5. In the present invention, the number of rows is preferably 2 to 5, and it is needless to say that the moving part fixing parts may be arranged in a plurality of rows in a staggered manner, but the larger the number of rows arranged, the larger the structure of the moving part and the fixing part becomes, and the height or length of each row of the moving part fixing part may be increased in order to improve the conveying height or conveying efficiency.

Furthermore, the two rejecting mechanisms are symmetrically arranged.

Further, the ladder material loading machine be integrated on a support body, 3D recognition device is also integrated on this support body. In the invention, the manipulator is not arranged on the frame body.

Further, the ladder material loading machine still include, set up on the support body, deposit the material with the slope so that the material is by the stock portion of removal portion transport, stock portion next-door neighbour remove the portion.

In the invention, the top ends of the plurality of rows of moving parts and the fixed parts are inclined towards the material conveying direction, and the material storage part is also inclined, so that the materials can be automatically inclined towards the material conveying direction end under the action of gravity; of course, the present invention can also achieve the above object by providing the plurality of rows of moving parts and the fixed part with inclination.

Further, the ladder material loading machine still including being used for connecing the material portion of connecing of being carried the material of fixed part predetermined height department by the removal portion, and will connect material portion and fixed part predetermined height department and couple together so that the material slides the first portion of sliding of whereabouts, first portion of sliding is the slope setting, and 3D recognition device discerns the material in connecing the material portion, connect material portion and first portion of sliding all set up on the support body. According to the material receiving device, the first sliding part is obliquely arranged so that materials can automatically slide into the material receiving part, and the 3D identification device is aligned with the area of the material receiving part to identify the materials. The material receiving part and the first sliding part are arranged corresponding to the rejecting mechanism, the number of the material receiving part is two, and the number of the first sliding part is two.

Further, the ladder material loading machine still including connecting material receiving portion and material stock portion to the material that is rejected by the mechanism that makes is followed the second portion of sliding that the slope that material receiving portion flows back to material stock portion sets up, the second portion of sliding sets up on the support body. In the invention, the second sliding part is also obliquely arranged and the direction of the second sliding part is oblique to the material storage part, so that the materials can conveniently slide or roll off. The number of the second sliding parts is two corresponding to that of the rejecting mechanisms. The two second sliding parts are symmetrically arranged.

Further, the rejecting mechanism comprises: the material sliding device comprises a track, a sliding piece and a push plate, wherein the track is arranged on the frame body, the lower part of a first sliding part is perpendicular to the material sliding direction of the first sliding part and is located on the horizontal direction, the sliding piece is matched with the track and slides on the track, the push plate is fixedly connected with the sliding piece, extends to one side far away from the track and is tightly attached to the upper surface of a material receiving part, and the push plate is used for pushing materials to a second sliding part. The extending direction of the push plate is vertical to the track. The number of the removing mechanisms is two, and the two removing mechanisms are symmetrically arranged side by side.

According to the invention, materials which cannot be grabbed or are not beneficial to grabbing by the manipulator are rejected by the rejecting mechanism and continue to participate in next feeding and conveying from the material storing part through the second sliding part.

Furthermore, the ladder feeder also comprises a guide piece for guiding the moving track of the moving part to ensure that the moving track of the moving part does not deviate and is not blocked; the guide piece comprises a groove arranged on the moving part and a raised convex rail which is fixed on the frame body in a way of being matched with the groove. In the invention, the moving part moves up and down under the driving of the driving device, and in order to ensure that the moving track of the moving part can ensure that the moving part does not incline or block, the guide piece can also be realized by arranging a convex groove on the moving part and arranging a concave track matched with the convex groove on the frame body.

Furthermore, the two material blocking devices for blocking the falling of the materials are arranged above the first sliding part and close to the side of the fixing part, and the two material blocking devices alternately act. The material blocking device is a telescopic cylinder, and other devices can be adopted for blocking materials and are not limited to the cylinder. In order to match the grabbing speed of the feeding device and the grabbing speed of the manipulator, the two sets of material blocking devices are arranged so that materials are blocked and continuously flow back to the material storage part when the material blocking devices act, the materials are not blocked and smoothly slide to the material receiving part when the material blocking devices do not act, and therefore the grabbing speed of the manipulator is matched with the material conveying speeds of the two rejecting mechanisms and the multi-row moving part. The two sets of material blocking devices act alternately in a circulating mode, and the sequence of the alternate action of the material blocking devices in the circulating mode is matched with the sequence of the mechanical arm grabbing the materials from the corresponding material receiving parts.

If when the dam device of a certain side stretches out, the material of this side is blocked to flow back to material storage portion, thereby the material of this side slides to material receiving portion because of dam device does not stretch out, the material of this side is discerned by 3D recognition device and is shot, shoot the data transmission and give the manipulator and snatch the operation by the manipulator, the manipulator snatchs when this side snatchs, ladder material loading machine continuation material loading, thereby the material of the opposite side slides to material receiving portion because the dam device of opposite side does not stretch out, discern the shooting by 3D recognition device to the material of opposite side, discernment is shot and is accomplished and give the manipulator with the data transmission, the manipulator has just accomplished the material of one side and has snatched, adopt this kind of circulation step, the manipulator can ceaselessly continue the work of snatching of the material.

Further, the identification range of the 3D identification device includes a specific position of the material and a specific structure of the material.

Furthermore, the 3D recognition device adopts a binocular stereo vision algorithm of a passive algorithm to perform visual recognition on the materials. In the passive three-dimensional vision technique of the present invention, illumination of the material is provided by the lighting conditions surrounding the material, in the present invention, the lighting is integrated on the 3D recognition device. The 3D vision recognition device adopts a binocular stereo vision algorithm in a passive ranging method, and the algorithm process is similar to the human vision perception process; the 3D vision recognition device adopts a binocular stereo vision algorithm to calculate depth information from a plurality of cameras, and by utilizing calibration information of the two cameras, the algorithm can generate a depth image and provide richer data to recognize various forms of materials so as to guide the motion and response of the manipulator. Of course, the visual algorithm used by the 3D visual recognition device may be of other various types, such as structured light emission in an active distance measurement method, a time-of-flight method, a triangulation method, and the like.

Compared with the prior art, the invention has the beneficial effects that:

the automatic feeding system of the invention; the automatic feeding and discharging device changes the traditional manual feeding and discharging into the automatic feeding and discharging of the machine, meets the machining speed requirement of quick and batch machining, is not easy to have errors or various errors and misoperation, greatly saves the labor cost, and improves the production efficiency.

The rejecting mechanisms symmetrically arranged on the two sides and the stop devices alternately acting accelerate the material conveying efficiency, so that the efficiency of the manipulator is maximally utilized, and the working efficiency of the automatic feeding system is also fundamentally improved; the rejecting mechanisms symmetrically arranged on the two sides also avoid intermittent pause of the step feeding machine, so that the step feeding machine can continuously work.

The arrangement of the two material blocking devices further reduces the falling speed of materials, so that the overall feeding speed of the stepped feeding machine is matched with the grabbing speed of the manipulator, the whole process flow has no stop or pause waiting, the functional efficiency of the manipulator is exerted to the maximum extent, the time is greatly saved, and the efficiency is improved.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the present invention without the robot;

FIG. 3 is a schematic view of the present invention without the robot;

FIG. 4 is a schematic diagram showing a detail m in FIG. 3;

FIG. 5 is a schematic structural diagram of the driving device driving the moving part to move upward in the ladder feeder according to the present invention;

FIG. 6 is a schematic structural view of the driving device driving the moving part to move down in the ladder feeder according to the present invention;

FIG. 7 is a schematic structural view of a symmetrically arranged rejection mechanism of the present invention;

FIG. 8 is a schematic view of a rejection mechanism according to the present invention;

FIG. 9 is an enlarged view of a detail n in FIG. 1;

wherein, 1 is a ladder feeder, 11 is a moving part, 2 is a 3D recognition device, 3 is a manipulator, 4 is a rejecting mechanism, 41 is a sliding part, 411 is a push plate, 5 is a frame body, 51 is a material storage part, 52 is a material receiving part, 53 is a first sliding part, 54 is a second sliding part, 55 is a track, 56 is a material blocking device, and 6 is a driving device.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

Fig. 1 to 8 are schematic structural views of an automatic feeding system according to the present invention.

As shown in fig. 1, the automatic feeding system of the present invention includes a ladder feeder 1, a 3D recognition device 2, and a manipulator 3 for automatically grabbing and moving recognized materials. The material of the step feeder 1 is fed step by step to convey the material to an upper position. In the invention, the stepped feeding machine 1 conveys materials, the materials conveyed by the invention are particularly suitable for rod-shaped materials, and of course, materials with other shapes can be conveyed, after the stepped feeding machine 1 conveys the materials to the feeding position, the 3D recognition device 2 recognizes the position and material shape information of the materials through visual recognition and transmits the information to the manipulator 3, and the manipulator 3 performs grabbing and moving according to the material information.

As shown in fig. 1 to 6, the step feeder 1 of the present invention includes: the device comprises a moving part 11 with a plurality of rows of sequentially heightened positions, a fixed part and two rejecting mechanisms 4, wherein the fixed part is sequentially inserted into the moving part 11, the two rejecting mechanisms reject materials which cannot be grabbed or are not beneficial to grabbing by a manipulator 3, and the rejected materials continuously flow back to the initial positions; the multiple rows of moving parts 11 are driven by a driving device 6 to simultaneously convey materials in an up-and-down moving mode, the fixed parts are used for receiving the materials conveyed by the adjacent moving parts 11, and the fixed parts are fixed; as shown in fig. 2 to 6, the top ends of the plurality of rows of moving parts 11 and the fixed part are inclined surfaces inclined in the feeding direction, but the present invention can also achieve the above object by arranging the plurality of rows of moving parts 11 and the fixed part so as to be inclined. The number of rows of the moving part 11 is 2 to 5 rows, the number of rows of the fixing part is 2 to 5 rows, and the number of rows in the invention is 2 to 5 rows, and certainly, the fixing parts of the moving part 11 can be arranged in a staggered manner, but the larger the number of rows are, the larger the structures of the moving part 11 and the fixing part are, and the conveying height or the conveying efficiency can be improved by increasing the height or the length of each row of the fixing part of the moving part 11.

As shown in fig. 1 to 6, in the present invention, the moving section 11 conveys the material to the fixed section while moving up and down, and the plurality of rows of moving sections 11 and the plurality of rows of fixed sections are arranged to intersect. As shown in fig. 5 to 6, fig. 5 shows that the driving device 6 drives the plurality of rows of moving parts 11 to move down as a whole, at this time, the material falls onto the moving parts 11 from the fixed parts (the non-hatched plurality of rows are the fixed parts), wherein both the moving parts 11 and the fixed parts are inclined towards the material conveying direction so as to facilitate the material to fall down, after the material on the moving parts 11 in fig. 6 is driven by the driving device 6 to move up, the material stops moving until the height of the top end of the moving part 11 is higher than the height of the adjacent fixed parts, the material on the moving part 11 falls onto the fixed parts, and the material is conveyed to the highest position of the fixed parts by. As shown in fig. 5 to 6, a material storage portion 51 for temporarily storing the material is disposed adjacent to the left side of the moving portion 11, and the material storage portion 51 is inclined so as to facilitate the material to automatically roll or slide down onto the moving portion 11. In the present invention, when the material drops halfway, the material drops into the stock section 51 to continue to participate in the next feeding. As shown in fig. 1, 3, 4 and 7, the two sets of rejecting mechanisms 4 are provided in the present invention, and the two sets of rejecting mechanisms 4 are symmetrically provided.

As shown in fig. 1 to 4, the ladder feeder 1 and the 3D recognition device 2 are integrated on a frame 5. In the present invention, the robot 3 is not on the frame 5.

As shown in fig. 2 to 4, the ladder feeder 1 further includes a receiving portion 52 for receiving the material conveyed to the predetermined height of the fixing portion by the moving portion 11, and a first sliding portion 53 for connecting the receiving portion 52 and the predetermined height of the fixing portion to allow the material to slide and fall, and the 3D recognition device 2 recognizes the material in the receiving portion 52. In the invention, the first sliding part 53 is obliquely arranged to enable the material to slide down into the material receiving part 52, and the 3D identification device 2 is aligned with the area of the material receiving part 52 to identify the material. As shown in fig. 2 to 4, the material receiving portion 52 and the first sliding portion 53 are disposed corresponding to the removing mechanism 4, the number of the material receiving portion 52 is two, and the number of the first sliding portion 53 is two.

As shown in fig. 2 to 4, the ladder feeder 1 further includes a second slide portion 54 connecting the receiving portion 52 and the stock portion 51 so that the material rejected by the rejection mechanism 4 flows back from the receiving portion 52 to the stock portion 51. In the present invention, the second sliding portion 54 is also disposed obliquely and is inclined toward the material storage portion 51, so that the material can slide or roll down automatically. The number of the second sliding portions 54 is two corresponding to the number of the rejecting mechanisms 4. The two second sliding portions 54 are arranged corresponding to the rejecting mechanism 4, that is, the two second sliding portions 54 are also symmetrically arranged.

As shown in fig. 2 to 4 and 7 to 8, the removing mechanism 4 includes: the material receiving device comprises a track 55 which is arranged below the first sliding part 53 on the frame body 5 and is vertical to the material sliding direction of the first sliding part 53 and is positioned in the horizontal direction, a sliding part 41 which is matched with the track 55 and slides on the track 55, and a push plate 411 which is fixedly connected with the sliding part 41, extends to one side far away from the track 55 and is tightly attached to the upper surface of the material receiving part 52 and is used for pushing and transferring materials into the second sliding part 54. The push plate 411 of the present invention extends in a direction perpendicular to the rail 55. As shown in fig. 1 and 7, the number of the removing mechanisms 4 in the present invention is two, and the two removing mechanisms 4 are symmetrically arranged side by side. Certainly, the number of the rejecting mechanisms is not limited to two, a plurality of rejecting mechanisms can be arranged side by side according to needs, and at the moment, the second sliding part only needs to be arranged into a plurality of rejecting mechanisms.

As shown in fig. 2 to 4 and fig. 7 to 8, in the present invention, the material that cannot be grabbed or is not suitable for grabbing by the manipulator 3 is rejected by the rejecting mechanism 4 and is transported to the stock portion 51 via the second sliding portion 54 to continue to participate in the next feeding and transporting.

In the invention, the push plate 411 moves along the track 55, when the push plate 411 slides towards the second sliding part 54 along the track 55, the material on the material receiving part 52 is pushed to the second sliding part 54 by the push plate 411, the second sliding part 54 is inclined, and the material in the second sliding part 54 automatically rolls or slides to the material storing part 51 to participate in the next feeding cycle.

In the invention, the ladder feeder 1 further comprises a guide piece for guiding the moving track of the moving part 11 to ensure that the moving track of the moving part 11 does not deviate and is not blocked; the guide member includes a groove provided on the moving portion 11 and a protruding rail fixed to the frame body 5 in cooperation with the groove. In the present invention, the moving part 11 moves up and down under the driving of the driving device 6, and in order to ensure the moving track of the moving part 11 and prevent the moving part 11 from tilting and jamming, the guide member may be implemented by providing a convex groove on the moving part 11 and a concave rail on the frame body 5, which is matched with the convex groove. Of course, this rail or groove is not shown in this figure.

As shown in fig. 1 and 9, the step feeder 1 further includes two sets of material blocking devices 56 disposed above the first sliding portion 53, the two sets of material blocking devices 56 are disposed on the side close to the fixing portion, the two sets of material blocking devices 56 alternately act to block the material from falling down, the material blocking devices in this embodiment are telescopic cylinders, and naturally, other devices may be used for blocking the material instead of only using the cylinders. Because the one-time feeding amount of the step feeding machine 1 in the prior art is difficult to control, the manipulator 3 has no time to grab under the condition of more one-time feeding amount; in order to adapt the feeding speed to the grabbing speed of the manipulator 3, the two material blocking devices 56 are arranged to block the material to continuously flow back to the material storage part 51, so that the grabbing speed of the manipulator is matched with the conveying speeds of the two rejecting mechanisms 4 and the multiple rows of moving parts 11. The two sets of material blocking devices 56 circularly and alternately act, and the sequence of the circularly and alternately acting of the material blocking devices 56 is matched with the sequence of the mechanical arm 3 grabbing the materials from the corresponding material receiving part 52. When the manipulator does not grab the material from the receiving part 52 on the side, the material blocking device 56 on the side extends out to block the material back to the material storage part 51, so that the number of the materials conveyed by the receiving part 52 on the side during the action of the step feeder 1 is zero or a very small number, and when the manipulator grabs the material from the receiving part 52 on the other side, the material blocking device 56 on the other side retracts, so that the material slides to the receiving part 52 after turning over the step feeder 1 to be convenient for the manipulator to grab; by adopting the mode that the stop device 56 extends and retracts to reciprocate circularly, the equipment, particularly the step feeding machine 1, can work without stopping, the manual intervention is reduced, and the efficiency is improved.

As shown in fig. 1 to 3, the identification range of the 3D identification device 2 includes a specific position of the material and a specific structure of the material.

As shown in fig. 1 to 3, the 3D recognition device 2 performs visual recognition on the material by using a binocular stereo vision algorithm which is a passive algorithm. The 3D vision recognition device adopts a binocular stereo vision algorithm, and the algorithm process is similar to the human vision perception process; the 3D vision recognition device adopts a binocular stereo vision algorithm to calculate depth information from a plurality of cameras, generates a depth image by utilizing calibration information of the two cameras, provides richer data to recognize various forms of materials, and guides the motion and response of the manipulator 3.

As shown in fig. 1 to 8, the automatic feeding device of the invention performs automatic feeding according to the following operation flows:

the step feeder 1 moves to convey materials to the position of the preset height of the fixed part, the materials roll or slide down to the receiving part 52 along the inclined first sliding part 53 at the preset height of the fixed part, and a part of the materials blocked by one of the material blocking devices 56 cannot smoothly fall down until the next movement of the step feeder 1. The 3D recognition device 2 above the material receiving part 52 performs 3D visual recognition on falling materials, transmits position and state information to the manipulator 3, and automatically picks the materials by the manipulator 3, and when the materials on the material receiving part 52 are not beneficial to the picking of the manipulator 3, the material is respectively pushed into the second sliding parts 54 on the two sides by the actions of the two-sided rejecting mechanism 4 and then continuously returns to the initial position, namely returns to the material storing part 51 to participate in the next automatic feeding circulation.

The ladder feeder 1 moves according to the set speed, the receiving parts 52 on the left side and the right side move alternately in a circulating way, the mechanical arm 3 grabs the materials without stopping, when the materials slide to one side of the receiving part 52, such as the left side, the 3D visual identification shoots the materials on the side, in the process, the mechanical arm 3 grabs the materials on the other side, namely the right receiving part 52, when the mechanical arm 3 grabs the materials on the right receiving part 52, the materials on the left receiving part 52 are shot, so the mechanical arm 3 can continuously grab the materials on the left receiving part 52, because the ladder feeder 1 moves according to the set speed, the ladder feeder 1 continues to move for feeding, the materials slide to the other side, namely the right side, on the receiving part 52, the 3D visual identification shoots the materials on the right receiving part 52, the mechanical arm 3 grabs the materials on the left receiving part 52, the image information of the material on the right material receiving part 52 is already stored by 3D visual identification and is ready to be grabbed by the manipulator 3; by adopting the action sequence, the steps are circularly reciprocated in such a way, so that the step feeder 1 and the manipulator 3 are not stopped in the whole action process, and the efficiency of mechanical equipment can be utilized to the maximum extent.

In the process, the material blocking devices 56 on the left side and the right side circularly act, that is, when the material needs to be sent to the material receiving part 52 on the left side, the material blocking device 56 on the right side jacks up or extends out to block the material back into the material storing part 51, so that the material only falls on the material receiving part 52 on the left side; when the material needs to be conveyed to the material receiving portion 52 on the right side, the material blocking device 56 on the left side jacks up or extends out to block the material back to the material storing portion 51, so that the material only falls on the material receiving portion 52 on the right side.

The rejecting mechanisms symmetrically arranged on the two sides and the material blocking devices matched with the rejecting mechanisms accelerate the material conveying process, so that the efficiency of the manipulator is utilized to the maximum extent, and the working efficiency of the automatic feeding system is also improved fundamentally; meanwhile, the intermittent pause of the step feeding machine and the manipulator is avoided, so that the whole automatic feeding system can work continuously.

Claims (10)

1. An automatic feeding system comprises a step feeding machine (1) for conveying materials to a preset height, a 3D recognition device (2) for performing 3D recognition on the materials conveyed in place by the step feeding machine (1) to confirm the position of the materials, and a manipulator (3) for automatically grabbing and moving the recognized materials; it is characterized in that the preparation method is characterized in that,

the ladder feeder (1) comprises:

the automatic material conveying device comprises a moving part, a fixed part, two alternately-acting removing mechanisms and a material blocking device, wherein the moving part is used for conveying materials in a manner that the positions of multiple rows of positions are sequentially increased and simultaneously move up and down, the fixed part is sequentially inserted into the moving part and is used for being connected with the materials conveyed by the adjacent moving part, the two alternately-acting removing mechanisms are used for removing the materials which cannot be grabbed or are not beneficial to grabbing by a manipulator (3) and enabling the removed materials to continuously flow back to the initial position, and the material blocking device is used for blocking the materials conveyed by the moving part and corresponds to the removing mechanisms;

according to the automatic feeding system, the moving part conveys materials, when the materials are conveyed to the side, such as the left side, of a certain removing mechanism (4), the material blocking device (56) on the left side does not act, the materials are conveyed smoothly, after the 3D identification device (2) carries out 3D identification on the materials conveyed in place, the manipulator (3) grabs the materials, and the material blocking device (56) on the other side, such as the right side, acts to block the materials in the process; the moving part continues to convey the materials, when the materials reach the side, such as the right side, of the other removing mechanism (4), the material blocking device (56) on the right side does not act, the materials are conveyed smoothly, and after the 3D identification device (2) carries out 3D identification on the conveyed materials, the manipulator (3) grabs the materials on the other side, such as the right side; in this process, the manipulator (3) is continuously operated, and the operation of the manipulator (3) is not stopped by the 3D recognition device (2).

2. The automatic feeding system as claimed in claim 1, wherein the top ends of said plurality of rows of moving and fixing portions are inclined surfaces inclined in the feeding direction; the number of rows of the moving parts (11) is 2-5, and the number of rows of the fixing parts is 2-5.

3. An automatic feeding system according to claim 1, characterised in that said two rejecting mechanisms (4) are arranged symmetrically.

4. The automatic feeding system according to claim 1, characterised in that said step feeder (1) is integrated in a frame (5).

5. The automatic feeding system as claimed in claim 1, wherein the ladder feeder (1) further comprises a stock section (51) provided on the shelf (5) to store the materials obliquely so that the materials are conveyed by the moving section (11), the stock section (51) being adjacent to the moving section (11).

6. The automatic feeding system of claim 1, wherein the step feeder (1) further comprises a receiving portion (52) provided on the frame body (5) for receiving the material conveyed by the moving portion (11) to a predetermined height of the fixed portion, and a first sliding portion (53) connecting the receiving portion (52) and the predetermined height of the fixed portion so that the material slides down, the first sliding portion (53) is inclined, and the 3D recognition device (2) recognizes the material in the receiving portion (52); the material receiving parts (52) and the first sliding parts (53) are arranged corresponding to the removing mechanism (4), the number of the material receiving parts (52) is two, and the number of the first sliding parts (53) is two.

7. The automatic feeding system according to claim 1, characterized in that said ladder feeder (1) further comprises second obliquely disposed sliding portions (54) connecting the receiving portion (52) and the stock portion (51) to cause the material rejected by the corresponding rejecting mechanism (4) to flow back from the receiving portion to the stock portion (51), the number of the second sliding portions (54) corresponding to the number of the rejecting mechanisms (4).

8. The automatic feeding system according to claim 1, characterised in that said rejecting mechanism (4) comprises: the material sliding device comprises a track (55) which is arranged below a first sliding part (53) on a frame body (5) and is vertical to the material sliding direction of the first sliding part (53) and is positioned on the horizontal direction, a sliding part (41) which is matched with the track (55) and slides on the track (55), and a push plate (411) which is fixedly connected with the sliding part (41), extends to one side far away from the track (55), is tightly attached to the upper surface of a material receiving part (52) and is used for pushing and moving materials into a second sliding part (54).

9. The automatic feeding system according to claim 1, wherein two sets of the material blocking devices (56) for blocking the material from falling are arranged above the first sliding part (53) near the side of the fixed part, and the two sets of the material blocking devices (56) alternately act.

10. The automatic feeding system according to claim 1, characterized in that the identification range of the 3D identification means (2) comprises a specific location of the material and a specific structure of the material; the 3D recognition device (2) adopts a binocular stereoscopic vision algorithm of a passive algorithm to perform visual recognition on the materials.

Images